WO2017064549A2 - Mécanisme de transmission à engrènement interne - Google Patents

Mécanisme de transmission à engrènement interne Download PDF

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Publication number
WO2017064549A2
WO2017064549A2 PCT/IB2016/001459 IB2016001459W WO2017064549A2 WO 2017064549 A2 WO2017064549 A2 WO 2017064549A2 IB 2016001459 W IB2016001459 W IB 2016001459W WO 2017064549 A2 WO2017064549 A2 WO 2017064549A2
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WO
WIPO (PCT)
Prior art keywords
wheel
teeth
tooth
transmission mechanism
outer wheel
Prior art date
Application number
PCT/IB2016/001459
Other languages
English (en)
Chinese (zh)
Other versions
WO2017064549A3 (fr
Inventor
范正富
陈宇昊
Original Assignee
范正富
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201610404869.1A external-priority patent/CN107477151A/zh
Priority claimed from CN201620555031.8U external-priority patent/CN206036135U/zh
Application filed by 范正富 filed Critical 范正富
Priority to JP2018519836A priority Critical patent/JP2018530721A/ja
Priority to KR1020187013515A priority patent/KR20180069853A/ko
Priority to US15/767,521 priority patent/US20180291996A1/en
Priority to EP16816732.8A priority patent/EP3364071A2/fr
Priority to CA3001644A priority patent/CA3001644A1/fr
Publication of WO2017064549A2 publication Critical patent/WO2017064549A2/fr
Publication of WO2017064549A3 publication Critical patent/WO2017064549A3/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/10—Constructively simple tooth shapes, e.g. shaped as pins, as balls
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/17—Toothed wheels
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/324—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising two axially spaced, rigidly interconnected, orbital gears
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/325—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising a carrier with pins guiding at least one orbital gear with circular holes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/17—Toothed wheels
    • F16H2055/176—Ring gears with inner teeth

Definitions

  • the present invention generally relates to an internal meshing transmission mechanism.
  • the internal meshing mechanism Compared with the external meshing mechanism, the internal meshing mechanism has a small volume, a single-stage transmission speed ratio, and easy multi-tooth meshing.
  • the transmission speed ratio is the largest, but the difference in the number of teeth uses the traditional involute gear, and there is interference between the inner and outer wheels, resulting in the outer gear teeth and The inner teeth are stuck so that the outer and inner wheels cannot rotate. Therefore, for the internal meshing mechanism, it is necessary to solve the interference problem between the inner and outer wheels when realizing the large transmission ratio.
  • the more commonly used internal meshing transmission mechanisms mainly include a harmonic transmission mechanism and a cycloidal pinion transmission mechanism.
  • the harmonic transmission mechanism uses the flexible wheel as the external gear to transmit, and the deformation of the outer and outer wheels is solved by the deformation of the external gear.
  • the manufacturing of the flexible wheel is difficult and the output torque is small, making the harmonic transmission mechanism difficult to use widely.
  • the cycloidal pinion transmission mechanism adopts a cycloidal wheel as an inner wheel, and is driven by the cycloidal contour on the cycloidal wheel and the needle roller on the outer wheel, and the cycloidal contour is a cycloidal line (ie, a circle is rolled on a straight line) When, a fixed-point track on the circumference) or a cycloid after the modification.
  • the cycloidal profile enables interference between the inner and outer wheels, but during the relative rotation of the inner and outer wheels, the contour on the cycloid always engages the needle on the outer wheel. This type of engagement results in a large friction between the inner and outer wheels.
  • a needle sleeve is usually used on the needle roller on the outer wheel of the cycloidal pinion transmission mechanism, and the sliding friction of the needle roller is changed into the rolling friction of the needle sleeve, but the ends of the needle roller support the intermediate force cloth.
  • the setting method makes the needle needle easy to bend and deform when subjected to force, so that the cycloidal pinwheel reducer has an increased volume and a small carrying capacity.
  • an internal meshing transmission mechanism comprising an outer wheel and an inner wheel.
  • a first number of arcuate teeth are provided on the inner edge of the outer wheel, and the first number of rounded teeth are disposed around the inner edge of the outer wheel.
  • a second number of teeth are disposed on an outer edge of the inner wheel, the second plurality of teeth being disposed about an outer edge of the inner wheel, the m > n.
  • Each tooth on the inner wheel comprises: a tooth top, the shape of the tooth top is designed such that when the inner wheel and the outer wheel mesh with the transmission, the tooth top does not contact the arc tooth on the outer wheel at any time; and two tooth waists, They are respectively connected on both sides of the tooth top, and the shape of the tooth waist is designed such that the inner ring and the outer wheel mesh with the transmission, the tooth waist and the arc tooth on the outer wheel are periodically contacted and separated, so that the teeth on the inner wheel are The multi-tooth simultaneous engagement is achieved between the circular arc teeth on the outer wheel without interference.
  • the outer wheel also includes a plurality of tooth roots on the outer edge thereof, and the adjacent two teeth are connected.
  • the root of the tooth is a curve or a straight line
  • the top of the tooth is a curve or a straight line
  • the tooth waist is a smooth composite curve composed of a curve, a straight line, an arc and a spline.
  • One or more components in the line are one or more components in the line.
  • a part of the tooth waist is a curve which is an arc tooth on the inner tooth and the outer wheel in the set meshing region when the inner wheel and the outer wheel are meshed and transmitted. a series of envelopes formed by the meshing points, so that the plurality of teeth mesh at the same time in the set meshing region without interference, and the inner gear teeth have no contact or mesh with the arc teeth on the outer wheel in the set meshing region. .
  • the length of the envelope and the position at the tooth waist depend on the desired number of engagement of the teeth on the inner wheel with the arc teeth on the outer wheel and the meshing area.
  • the curve of the tooth tip is formed or The straight line and the envelope of the tooth waist are smoothly connected by a transition curve.
  • the curve or the straight line forming the root can be smoothly connected with the envelope of the tooth waist through a transition curve and/or a straight line, so that the tooth root is at any At the same time, there is no contact with the arc teeth on the outer wheel; the curve forming the root may be the same envelope as the envelope of the tooth waist.
  • the internal meshing transmission mechanism according to the first aspect of the present invention, further comprising an eccentric rotation device, wherein the eccentric rotation device is capable of driving the inner wheel such that the inner wheel is eccentrically moved with respect to the inner edge of the outer wheel And / or turn.
  • the mn aa (1, 2, 3... natural number)
  • the inner wheel rotates the angle of a tooth
  • the direction of rotation of the inner wheel is opposite to the direction of rotation of the eccentric rotating device.
  • the first number of arc teeth on the outer wheel is a needle roller.
  • the eccentric amount d of the eccentric rotation means is larger than r/2, where r is the needle roller radius.
  • the first number of arc teeth on the outer wheel is a needle roller; at all the meshing positions of the teeth of the inner wheel and the needle roller, the needle center is corresponding to The distance at any point on the root is greater than or equal to the radius of the needle.
  • the inner periphery of the outer ring is provided with a needle mounting groove, and the radius of the groove is the same as the radius of the roller.
  • the needle is positioned by the needle positioning ring in the needle groove of the outer wheel or the needle is controlled by the inner ring spacer in the needle groove.
  • each of the tooth tips on the inner wheel is not in contact with the circular arc teeth when the inner and outer wheels are meshed and driven.
  • the inner wheel and the outer wheel are meshed During transmission, each of the crests and each of the roots on the inner wheel are not in contact with the circular arc teeth.
  • each of the teeth of the inner ring is separated from the circular arc teeth on the outer wheel at least once during the rotation of the eccentric rotating device for one cycle.
  • the internal meshing transmission mechanism is provided with at least four inner wheels arranged in parallel.
  • the number of engagement of the first number of circular arc teeth with the second number of teeth is less than the number of times when the inner and outer wheels are meshed and transmitted 60% of the total number of arc teeth.
  • the internal meshing transmission mechanism further includes a planet carrier, and the inner wheel is mounted in the carrier to transmit a force between the inner wheel and the carrier.
  • the carrier is to be mounted inside the outer wheel and used to mount the eccentric rotating device.
  • the half crest of each tooth and its adjacent tooth waist and half tooth root are composed of a smooth continuous curve or are smoothly connected by a plurality of continuous curves.
  • an internal meshing transmission mechanism comprising: an outer wheel, wherein a first number of arc teeth are disposed on an inner edge of the outer wheel, and the first number of arc teeth surround the The outer wheel inner edge is disposed; the inner wheel, the inner wheel outer edge is provided with a second number of teeth, the second number of teeth are disposed around the outer wheel outer edge, the m>n; the eccentric rotation device, The eccentric rotating device can cause the inner wheel to be eccentrically arranged; wherein, any one of the outer wheel, the inner wheel and the eccentric rotating device is connected to the power input end, and any one of the outer wheel, the inner wheel and the eccentric rotating device One is coupled to the power output to transmit power through an meshing transmission between the outer and inner wheels; and wherein the toothed shape on the inner wheel is designed such that the inner and outer wheels are meshed with the drive at any time, the second One of the number of teeth meshes or contacts a portion of the first number of arc teeth, and the remaining portion of
  • each of the teeth on the inner wheel includes: a tooth tip having a shape designed to be engaged with the outer wheel and the outer wheel, and the tooth tip is at any time The arc teeth on the outer wheel are not in contact; and the two tooth waists are respectively connected to the two sides of the tooth top.
  • the shape of the tooth waist is designed to be the arc tooth period on the tooth waist and the outer wheel when the inner wheel and the outer wheel are meshed and transmitted.
  • the tooth root is a curved line or a straight line
  • the tooth top is a curved line or a straight line
  • the tooth waist is a smooth composite curve composed of a curve, a straight line, an arc and a spline.
  • One or more components in the line are not limited to:
  • a part of the tooth waist is a curve
  • the curve is an arc on the inner tooth and the outer wheel in the set meshing region when the inner wheel and the outer wheel are meshed and transmitted.
  • the length of the envelope and the position at the tooth waist depend on the desired number of meshing of the teeth on the inner wheel and the arc teeth on the outer wheel and the meshing area.
  • the curve or the straight line forming the addendum and the envelope of the tooth waist are smoothly connected by the transition curve.
  • the curve or the straight line forming the root can be smoothly connected with the envelope of the tooth waist through a transition curve and/or a straight line, so that the root of the tooth is at any At the same time, there is no contact with the arc teeth on the outer wheel; the curve forming the root may be the same envelope as the envelope of the tooth waist.
  • the mn aa 6 (1, 2, 3.. natural number); when the eccentric rotating device rotates for one cycle (360 degrees), the inner wheel The angle of a tooth is rotated, and the direction of rotation of the inner wheel is opposite to the direction of rotation of the eccentric rotating device.
  • the first number of arc teeth on the outer wheel is a needle roller.
  • the first number of arc teeth on the outer wheel is a needle roller
  • the needle center is at the corresponding position of the teeth of the inner wheel and the needle roller.
  • the distance at any point on the root is greater than or equal to the radius of the needle.
  • the eccentric amount d of the eccentric rotation means is larger than r/2, where r is the needle roller radius.
  • the inner periphery of the outer ring is provided with a needle mounting groove, and the radius of the needle groove is the same as the radius of the needle roller.
  • the needle is positioned by the needle positioning ⁇ in the needle mounting groove of the outer wheel or the needle is controlled by the inner ring spacer in the needle mounting groove.
  • each of the tooth tips on the inner wheel is not in contact with the circular arc teeth when the inner and outer circular teeth are meshed and driven.
  • each of the tooth tips and each of the tooth roots on the inner wheel are not in contact with the circular arc teeth when the inner and outer wheels are meshed and driven.
  • each of the inner wheels is separated from the circular arc teeth on the outer wheel at least once during the rotation of the eccentric rotating device for one cycle.
  • the internal meshing transmission mechanism is provided with at least four inner wheels arranged in parallel.
  • the number of engagement of the first plurality of circular arc teeth with the second plurality of teeth is smaller than the number of times when the inner and outer wheels are meshed and transmitted 60% of the total number of arc teeth.
  • the internal meshing transmission mechanism further includes a carrier, the inner wheel being mounted in the carrier to transmit a force between the inner wheel and the carrier.
  • the carrier is mounted inside the outer wheel and is used to mount the eccentric rotating device.
  • the half crest of each tooth and its adjacent tooth waist and half tooth root are composed of a smooth continuous curve or are smoothly connected by a plurality of continuous curves.
  • the present invention provides an inner wheel for engaging and transmitting with an outer wheel in an internal meshing transmission mechanism, and a second number of teeth are provided on an outer edge of the inner wheel for Description a first number of arc teeth disposed on an inner edge of the outer wheel are engaged to drive, and the second number of teeth are disposed around an outer edge of the inner wheel, wherein each tooth comprises: a tooth tip, a shape design of the tooth tip When the inner wheel and the outer wheel are meshed and transmitted, the tooth top does not contact the arc teeth on the outer wheel at any time; and two tooth waists are respectively connected on both sides of the tooth top, and the shape of the tooth waist is designed as an inner wheel.
  • the tooth waist and the outer wheel are periodically contacted and separated, so that the multi-tooth simultaneous engagement is achieved between the inner wheel and the outer wheel without interference; the outer edge of the inner wheel also includes several Root roots, connecting two adjacent teeth.
  • the tooth root is a curve or a straight line
  • the tooth top is a curve or a straight line
  • the tooth waist is a smooth composite curve which is composed of a curve, a straight line, an arc and a spline.
  • a part of the tooth waist is a curve which is an arc tooth on the inner tooth and the outer wheel in the set meshing region when the inner wheel and the outer wheel are meshed and transmitted. a series of envelopes formed by the meshing points, so that the plurality of teeth mesh at the same time in the set meshing region without interference, and the inner gear teeth have no contact or mesh with the arc teeth on the outer wheel in the set meshing region. .
  • the length of the envelope and the position at the tooth waist depend on the number of engagement of the teeth on the inner wheel and the arc teeth on the outer wheel and the meshing interval.
  • the curve or straight line forming the addendum and the envelope of the tooth waist are smoothly connected by a transition curve.
  • the curve or the straight line forming the root may be smoothly connected with the envelope of the tooth waist through a transition curve and/or a straight line, so that the root of the tooth is at any time
  • the half crest of each tooth and its adjacent tooth waist and half tooth root are composed of a smooth continuous curve or are smoothly connected by a plurality of continuous curves.
  • the internal meshing transmission mechanism according to the invention can solve the interference problem of the inner and outer wheels well, and the friction between the inner and outer wheels is extremely small, so that the transmission mechanism has a small volume and a speed ratio. Large and large output torque, long service life, high transmission efficiency and so on.
  • Figure 1 is an axial schematic view of the internal meshing transmission mechanism of the present invention
  • FIG. 2 is a schematic structural view of an inner wheel of the present invention
  • 3A is a schematic view showing the upper gear on the inner wheel of the present invention.
  • Figure 3B is a schematic view showing the engagement of the teeth on the inner wheel with the needle on the outer wheel of the present invention
  • FIGS. 4A-4F are schematic views of the interlocking engagement of the internal meshing transmission mechanism according to the present invention, which shows the teeth of the inner wheel and the outer wheel during one rotation of the eccentric rotating device of the internal meshing transmission structure according to the present invention. How the upper needle is engaged and separated;
  • Figure 5 is a simplified perspective view of the internal meshing mechanism of the present invention showing the corresponding position of the inner wheel in two different rotational positions of the eccentric rotating device;
  • Figure 6 is a partial elevational view of the outer wheel in accordance with the present invention showing the structure for mounting the needle roller on the outer wheel;
  • Figure 7A is a perspective view showing the internal structure of the internal meshing mechanism according to the present invention.
  • Figure 7B is a cross-sectional view of the internal meshing transmission mechanism in accordance with the present invention.
  • the internal meshing transmission mechanism includes an outer wheel 102, an inner wheel 108 and an eccentric rotating device 116 as shown in FIG.
  • the eccentric rotating device U6 is disposed inside the inner ring 108, and the outer wheel 102 is disposed outside the inner wheel 108.
  • the internal meshing mechanism also includes a planet carrier 400 (not shown in FIG. 1, see FIGS. 7A and 7B).
  • the inner wheel 108 is geared by the planet carrier 400 and is integrally disposed with the planet carrier 400. Placed inside the outer wheel 102.
  • the eccentric rotating device 116 acts as a high-speed input mechanism, and uses the outer wheel 102 or the carrier 400 to output a low speed.
  • the carrier 400 When it is required to realize the low output of the outer wheel 102, the carrier 400 must be fixed; when it is required to realize the low-speed output of the carrier 400 The outer wheel 102 must be fixed.
  • the outer wheel 102 or the planet carrier 400 functions as a low speed input mechanism, and the eccentric rotation device 116 functions as a high speed output mechanism.
  • the internal meshing mechanism of the present invention can realize various deceleration and speed increasing modes.
  • the deceleration mode of the low speed output will be described by the carrier 400 in conjunction with the eccentric rotating device 116 as a high speed input.
  • the eccentric rotating device 116 is connected to an external high speed power source, the planet carrier 400 achieves low speed power output, and the outer wheel 102 is stationary.
  • the circular arc tooth may also be a member having a needle shape mounted on the inner edge of the outer wheel, and the shape of the needle protruding from the inner edge of the outer wheel 102 is also a circular arc tooth shape.
  • the specific mounting form of the needle roller will be described in detail later with reference to FIG.
  • the arcuate teeth in the form of a needle are shown in Fig. 1.
  • the embodiment of the present invention will be described by “needle” instead of "arc”.
  • the central portion of the inner wheel 108 is provided with an accommodation space for receiving the eccentric rotating device 1 16 therein, and the eccentric rotating device 116 is capable of biasing the inner wheel 108.
  • the inner wheel 108 is disposed on the eccentric rotating device 116 by an eccentric bearing (see Fig. 7B).
  • the inner wheel 108 is provided with a plurality of holes 126 for mounting the inner wheel on the planet carrier 400 (not shown).
  • the inner wheel 108 When the eccentric rotating device 1 16 rotates at a high speed, the inner wheel 108 is translated by the eccentric rotating device 1 16 , and at the same time, due to the meshing relationship between the needle on the outer wheel 102 and the teeth on the inner wheel 108 and the principle of less tooth difference, the inner wheel 108 Achieve low speed rotation (rotation), and then achieve low speed power output through the planet carrier.
  • the number of needles (i.e., arc teeth) on the outer wheel is larger than the number n of inner teeth, thereby forming a small tooth difference engagement.
  • m-n a.
  • a l.
  • a is also possible to select other natural numbers.
  • the internal meshing transmission mechanism of the present invention is designed by the tooth profile on the inner wheel 108, so that even when the difference n between the number of needles on the outer wheel and the number of inner teeth n is 1 (i.e., a tooth difference) Realize no interference between the inner wheel and the needle. That is, the multi-tooth simultaneous engagement is achieved between the teeth on the inner wheel 108 and the needle on the outer wheel 102 without interference, so that the teeth on the inner wheel 108 and the needle on the outer wheel 102 are realized. Engagement transmission between the wheel and the outer wheel.
  • the tooth profile on the inner wheel 108 of the present invention will be described in detail below with reference to Figs. 2 and 3A.
  • Figure 3 is a schematic view showing the tooth profile of the inner wheel according to the present invention, which shows the tooth profile on the inner wheel of the present invention.
  • each tooth has a crest 202 and two indentations 203 attached to opposite sides of the crest 202.
  • the adjacent two teeth are connected by a root 201.
  • the root 201, the crest 202 and the flank 203 together form the tooth profile of the inner wheel according to the invention.
  • the half crests 202 of each tooth and its adjacent tooth waist 203 and half tooth root 201 are composed of a smooth continuous curve or are smoothly joined by a plurality of continuous curves.
  • FIG. 3 is a schematic illustration of the engagement of the inner gear and the needle in accordance with the present invention, showing a needle in engagement with the adjacent left tooth.
  • the crest 202 of the present invention is shaped such that when the inner wheel 108 is engaged with the outer wheel 102, the crest 202 is not in contact with the needle at any time (this will be described in detail later with reference to Figures 4A-4G).
  • the crests 202 are designed as a curve or a straight line.
  • FIG. 3A and 3B the crests 202 are designed as a curve or a straight line.
  • the crests 202 are designed as a circular arc that is concentric with the center of the inner wheel 108, that is, the crests 202 of all the teeth on the inner wheel 108 are located concentric with the inner wheel 108. On a circle.
  • the shape of the tooth waist 203 is designed such that the inner waist 108 and the outer wheel 102 rotate relative to each other, and the tooth waist 203 is periodically contacted and separated from the needle roller so that the teeth on the inner wheel 108 and the needle on the outer wheel 102 are formed. Simultaneous engagement of the multi-tooth is achieved without interference, thereby transmitting power between the inner wheel 108 and the outer wheel 102.
  • the tooth waist 203 is designed as a smooth composite curve consisting of one or more combinations of curves, lines, arcs and splines. Among them, a part of the tooth waist 203 is an engagement curve 210 for engaging the needle roller.
  • the engagement curve 210 is an envelope that is a series of meshing points of the inner teeth and the needle in the set meshing region (ie, the meshing curve region) when the inner wheel 108 is translated and rotated.
  • a continuous curve is formed such that the plurality of teeth engage at the same time in the set engagement region without interference, and the inner teeth are out of contact or mesh with the needles outside the set engagement region.
  • the length of the envelope and the position at the tooth waist depend on the desired number of meshing and engagement of the inner and the needles.
  • the root 201 of the present invention is also designed as a circular arc curve or straight line.
  • the root 201 of the present invention can be in contact with or not in contact with the needle on the outer wheel 102, depending on the number of simultaneous engagement of the needle with the inner tooth and the engagement interval.
  • the meshing section covers the root position, the meshing curve 210 of the root 201 and the tooth waist 203 is the same envelope, and the meshing curve 210 of the root 201 and the tooth waist 203 is in contact with the needle on the outer wheel 102.
  • the tooth 201 When the meshing interval does not cover the position of the tooth, the tooth 201 is smoothly connected to the envelope (engagement curve 210) of the adjacent tooth waist 203 by a transition curve and/or a straight line 214, at which the root 201 and the outer wheel 102 are attached.
  • the needles are not in contact, and the friction between the inner and outer wheels can be reduced to some extent.
  • the teeth 201 are designed such that the root 201 does not contact the needle at all times when the inner wheel 108 is rotated relative to the outer wheel 102. Can be clearly seen from Figure 3B To the state of engagement between the needle and the adjacent two teeth thus designed, the needle is only with the waist
  • the 203 contacts (engages) without coming into contact with the root 201, i.e., the needle is disengaged from the tooth 201.
  • the distance d from the center of the needle to any point on the root is greater than the radius r of the needle.
  • the tooth waist 203 also includes a transition line and/or curve 214 that smoothly connects the engagement curve 210 to the root 201.
  • the tooth waist 203 in addition to the engagement curve 210, also includes a transition curve 212 that smoothly connects the tooth waist 203 to the crest 202. That is, in the embodiment shown in Fig. 3A, the tooth waist 203 includes, in order from top to bottom, a transition curve 212, a length of engagement curve 210, and a transition line and/or curve 214.
  • the tooth waist 203 may have other shapes as long as it can be ensured that the needle roller and the inner wheel 108 can be continuously engaged on the tooth waist 203.
  • the number of engagement of the inner tooth with the needle is less than 60% of the total number m of the needles.
  • the above-described tooth form of the present invention can also achieve the purpose of reducing the number of engagement of the teeth and thereby reducing friction.
  • the toothed design of the inner wheel 108 of the present invention is based on large eccentric translation (as opposed to conventional cycloidal motion) (i.e., the amount of eccentricity is greater than conventional cycloidal transmission).
  • the amount of eccentricity of the eccentric rotating device 1 16 will be described below in conjunction with Figure 4H.
  • Figures 4A-4G illustrate the rotation of the eccentric rotating device 1 16 of the internal meshing transmission mechanism of the present invention in a simplified engagement schematic view.
  • T 360°
  • the teeth of the inner wheel and the outer wheel How the needles mesh and separate.
  • the outer wheel 102 has only 16 needle rollers and the inner wheel has 15 teeth, the number of teeth being one less than the number of needle rollers.
  • the 16 rolls are numbered 1-16 in each figure to illustrate the partial engagement of the teeth with the needle.
  • arrows 116A, 108A, and 104A are added to or along the eccentric rotating device 116, the inner wheel 108, and the needle, respectively, to show the relative positional changes of the three components in the various figures, note that in each of the figures The position of the arrow on its corresponding part is fixed.
  • T the initial rotational position of the eccentric rotating device 116
  • the eight needles numbered 2, 3, 4, 5, 13, 14, 15, and 16 engage the corresponding eight teeth on the inner wheel 108, and the remaining needles are disengaged from the inner wheel 108.
  • the directions of the arrows 116A, 108A, and 104A corresponding to the eccentric rotating device 1 16, the inner wheel 108, and the needle are in a straight line.
  • the engagement state of the inner and outer wheels, at which the numbers are 13, 14, 15, 16 and 2, 3, 4, 5 The needles engage the corresponding eight teeth on the inner wheel 108, and the remaining needles are disengaged from the inner wheel, but the flag 108A on the inner wheel 108 indicates that the inner wheel 108 has been rotated counterclockwise by 24°, i.e., the angle of one tooth.
  • each of the inner wheels 108 is separated from the needles on the outer wheel 102 at least once during one cycle (360°) of the eccentric rotating device 116.
  • Fig. 5 is a view formed by incorporating Fig. 4D on the basis of Fig. 4A, in which the position of the inner wheel in Fig. 4D is shown by a broken line, so that Fig. 5 shows the rotation 180 at the eccentric rotating device 116.
  • the inner wheel 108 is eccentrically translated and rotated counterclockwise.
  • the amount of eccentricity generated by the eccentric rotating device 16 to the inner wheel 108 is d.
  • the eccentric amount d is greater than the radius of the arc tooth 104 or the radius r of the needle roller, i.e., d > r/2.
  • the internal meshing mechanism of the present invention can realize the engagement of the partial inner teeth and the needle roller, the friction between the inner and outer wheels is small, therefore, the present invention does not need to be mounted on the needle roller to reduce the friction.
  • the needle roller of the invention is directly mounted on the outer wheel, that is, the needle roller is entirely stressed. Further, the needle of the present invention is only rotated in the needle groove, and it is not necessary to solve the problem by displacement. For details, see a needle roller mounting structure shown in FIG. 6.
  • Figure 6 shows a structure for mounting a needle roller on the outer wheel.
  • Figure 6 shows only a small portion of the outer wheel.
  • the inner edge 103 of the outer ring 102 is provided with a needle mounting groove 301 having the same number of needles as the needle roller, and the radius of the needle groove 301 is the same as the needle roller radius.
  • Needle positioning rings 302, 304 are respectively provided at both ends of the groove for supporting the two ends of the needle after the needle is mounted in the groove 301, thereby achieving needle positioning.
  • the needle roller is rotatable within the needle groove 301. When the needle is pressed over the entire length, it can be supported by the needle groove. The needle is fully stressed. It will bend and transmit a large torque.
  • the needle roller can also be controlled within the needle groove 301 by the inner wheel spacer ring 122 (the inner wheel spacer ring 122 will be described later).
  • the internal meshing transmission mechanism of the present invention has other mounting members in addition to the above-mentioned components and structures, and Figs. 7A and 7B show the detailed structure of the internal meshing transmission mechanism according to an example. 7A shows a perspective view of the internal meshing mechanism, and FIG. 7B shows a cross-sectional view of the internal meshing mechanism.
  • the internal meshing mechanism can employ a plurality of inner wheels 108 in a parallel symmetrical arrangement wherein the eccentric directions of the inner wheels can differ by 180. Of course, it can also be 90. 120. Wait.
  • the eccentric directions of the inner wheels can differ by 180. Of course, it can also be 90. 120. Wait.
  • dynamic balancing can be achieved, and the bearing forces at both ends of the input shaft can be symmetrically offset (zero force) to make the input shaft run smoothly.
  • the internal meshing mechanism shown in Fig. 7B has four inner wheels 108.1, 108.2, 108.3 and 108.4 arranged side by side.
  • the eccentric rotating device is an eccentric rotating shaft 1 16, and the eccentric rotating shaft 1 16 is a crankshaft having four symmetrical eccentric eccentric sections, and the eccentric sections of the crankshaft are respectively 15.1, 115.2, U5.3. And 115.4, wherein the middle two eccentric sections U5.2 and 115.3 are the same set of eccentric sections in the eccentric direction, and the two adjacent eccentric sections 115.1 and 115.4 are the same set of eccentric sections in the eccentric direction, and the two sets of eccentricities
  • the eccentric directions of the segments differ by 180. .
  • Each inner wheel 108.1, 108.2, 108.3 and 108.4 is mounted on its corresponding eccentric section 1 15.1, 15.2, 1 15.3 and 115.4 via an eccentric bearing 1 14 to form 4 parallelly arranged inner wheels, adjacent inner wheels
  • An inner wheel spacer ring 122 is disposed therebetween, and the needle roller can be controlled within the needle roller groove 301 by the inner wheel spacer ring 122.
  • the carrier 400 of the internal meshing mechanism of the present invention includes a first output 402, a second output 401, a planet carrier bolt 403, a nut 404, and an output pin 125.
  • the eccentric shaft 116 is disposed within the planet carrier 400, and both ends of the eccentric shaft 116 are disposed through the shaft 7 in the center holes in the first output end 402 and the second output end 401, respectively.
  • the first output end 402 and the second output end 401 are two flanges, and the two output ends are fastened by a carrier bolt 403 and a nut 404 to form a hollow planet carrier 400.
  • the four parallels are arranged in the carrier 400.
  • the inner wheels 108.1, 108.2, 108.3 and 108.4 are arranged, the multi-output pin 125 passes through the pin holes on the four inner wheels 108.1, 108.2, 108.3 and 108.4 arranged in parallel, and the two ends of the output pin 125 are respectively arranged at the first output end 402 and second output 401, a pin sleeve 127 is disposed on the output pin 125; the first output end 402 and the second output end 401 on the planet carrier 400 are disposed at both ends of the outer wheel 102 (or "outer casing") through the main bearing, and An oil seal is disposed between the outer wheel 102 to prevent leakage of lubricating oil in the internal meshing transmission mechanism.
  • the eccentric shaft 16 is coupled to a power source (e.g., a motor) that is coupled to an externally-powered device and the outer wheel 102 is fixed to the base (i.e., the outer wheel is stationary).
  • a power source e.g., a motor
  • the eccentric shaft 1 16 rotates at the same speed as the motor, and during the rotation, its eccentric section 1 15 drives the inner wheel 108 through the eccentric bearing for eccentric translation.
  • the frequency of the eccentric translation of the inner wheel 108 is the same as the rotational speed of the eccentric shaft 116.
  • the teeth on the inner wheel 108 engage with the needles on the outer wheel 102, causing the inner wheel 108 to rotate (rotate).
  • the power of the inner wheel 108 is transmitted to the planet carrier 400 through the pin 125 mounted in the inner wheel, thereby causing the planet carrier 400 to rotate simultaneously and through the first output 401 of the planet carrier 400 and/or
  • the second output 402 outputs power to an external device.
  • the reduction transmission between the input and the output is realized by the apparatus shown in Figs. 7A and 7B.
  • the internal meshing mechanism of the present invention can also fix the first output end 402 and the second output end 401 in addition to the deceleration mode described in detail above, that is, to fix the planet carrier 400, when eccentric
  • the rotating device 116 rotates with the motor, since the carrier 400 is fixed, the inner wheel 108 can only generate eccentric translation.
  • the outer wheel 102 is rotated at a low speed by the meshing drive and the torque is output, and the rotating direction and the eccentric rotation of the outer wheel 102 are rotated.
  • the direction of rotation of the device 116 is the same.
  • the internal meshing mechanism of the present invention can also achieve a speed increasing effect.
  • the outer wheel 102 is fixed to the base (or the first output end 402 or the first The two output terminals 401 are fixed, the outer wheel 102 is used for low speed input), and the eccentric shaft 116 is rotated at a high speed to achieve a speed increasing effect.
  • any one of the outer wheel, the inner wheel and the eccentric rotating device can be connected to the power input end, and Any other of the wheel, the inner wheel and the eccentric rotating device may be coupled to the power output to transmit power through the meshing transmission between the outer and inner wheels.
  • the above is illustrative only and is not a limitation of the application of the invention. Those skilled in the art can apply the internal meshing mechanism of the present invention to various desired modes as needed.

Abstract

L'invention concerne un mécanisme de transmission à engrènement interne, comprenant : une roue externe, la circonférence interne de la roue externe comprenant un premier nombre (m) de dents en forme d'arc, ledit premier nombre de dents en forme d'arc étant disposé autour de la circonférence interne de la roue externe; une roue interne, la circonférence externe de la roue interne comprenant un second nombre (n) de dents, le second nombre de dents étant disposé autour de la circonférence externe de la roue interne, m > n; un appareil de rotation excentrique, l'appareil de rotation excentrique permettant l'agencement excentrique pour la roue interne; un quelconque élément parmi la roue externe, la roue interne et l'appareil de rotation excentrique est relié à une extrémité d'entrée de puissance et un quelconque élément parmi la roue externe, la roue interne et l'appareil de rotation excentrique est relié à une extrémité de sortie de puissance, de sorte que la puissance soit transmise au moyen de la transmission par engrènement entre la roue externe et la roue interne; la conception de la forme des dents sur la roue interne est telle qu'à tout moment pendant la transmission par engrènement entre la roue interne et la roue externe, une partie du second nombre de dents s'engrènent ou sont en contact avec une partie du premier nombre de dents en forme d'arc et la partie restante du second nombre de dents sont dégagées du premier nombre de dents en forme d'arc.
PCT/IB2016/001459 2015-10-13 2016-10-11 Mécanisme de transmission à engrènement interne WO2017064549A2 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2018519836A JP2018530721A (ja) 2015-10-13 2016-10-11 内側メッシング伝達機構
KR1020187013515A KR20180069853A (ko) 2015-10-13 2016-10-11 인터메싱 변속 메커니즘
US15/767,521 US20180291996A1 (en) 2015-10-13 2016-10-11 Internally meshed transmission mechanism
EP16816732.8A EP3364071A2 (fr) 2015-10-13 2016-10-11 Mécanisme de transmission à engrènement interne
CA3001644A CA3001644A1 (fr) 2015-10-13 2016-10-11 Mecanisme de transmission a engrenement interne

Applications Claiming Priority (10)

Application Number Priority Date Filing Date Title
CN201510655588.9 2015-10-13
CN201510655588 2015-10-13
CN201510993164 2015-12-28
CN201510993164.3 2015-12-28
CN201610403994.0 2016-06-08
CN201610404869.1A CN107477151A (zh) 2016-06-08 2016-06-08 内啮合传动机构
CN201620555031.8 2016-06-08
CN201620555031.8U CN206036135U (zh) 2015-10-13 2016-06-08 内啮合传动机构及其内轮
CN201610404869.1 2016-06-08
CN201610403994.0A CN106567911A (zh) 2015-10-13 2016-06-08 内啮合传动机构

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WO2017064549A2 true WO2017064549A2 (fr) 2017-04-20
WO2017064549A3 WO2017064549A3 (fr) 2017-08-03

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CN109027140A (zh) * 2018-09-30 2018-12-18 杭州星河传动机械研究院有限公司 一种滚套行星减速机
CN109630649A (zh) * 2018-12-07 2019-04-16 浙江双环传动机械股份有限公司 一种行星减速装置
CN109667892A (zh) * 2019-01-28 2019-04-23 湖北斯微特传动有限公司 微型大速比减速机及其针齿定位法兰安装方法
CN109681585A (zh) * 2019-01-28 2019-04-26 湖北斯微特传动有限公司 输出快速链接机构及减速器
CN109826938A (zh) * 2019-01-28 2019-05-31 湖北斯微特传动有限公司 输出机构及减速器
CN110067833A (zh) * 2019-05-29 2019-07-30 苏州博安捷机器人科技有限公司 一种双圆弧有隙啮合少齿差行星传动装置

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CN109027140A (zh) * 2018-09-30 2018-12-18 杭州星河传动机械研究院有限公司 一种滚套行星减速机
CN109027140B (zh) * 2018-09-30 2023-12-19 杭州星河传动机械研究院有限公司 一种滚套行星减速机
CN109630649A (zh) * 2018-12-07 2019-04-16 浙江双环传动机械股份有限公司 一种行星减速装置
CN109630649B (zh) * 2018-12-07 2024-01-12 浙江环动机器人关节科技股份有限公司 一种行星减速装置
CN109667892A (zh) * 2019-01-28 2019-04-23 湖北斯微特传动有限公司 微型大速比减速机及其针齿定位法兰安装方法
CN109681585A (zh) * 2019-01-28 2019-04-26 湖北斯微特传动有限公司 输出快速链接机构及减速器
CN109826938A (zh) * 2019-01-28 2019-05-31 湖北斯微特传动有限公司 输出机构及减速器
CN110067833A (zh) * 2019-05-29 2019-07-30 苏州博安捷机器人科技有限公司 一种双圆弧有隙啮合少齿差行星传动装置

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